Skip to content

Remove unused code in BT utils #5048

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 2 commits into from
Apr 3, 2025
Merged

Remove unused code in BT utils #5048

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
5e3fc9d
Clean set port
ajtudela Apr 3, 2025
58aa72c
Remove set
ajtudela Apr 3, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 0 additions & 18 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -210,24 +210,6 @@ inline std::chrono::milliseconds convertFromString<std::chrono::milliseconds>(co
return std::chrono::milliseconds(std::stoul(key.data()));
}

/**
* @brief Parse XML string to std::set<int>
* @param key XML string
* @return std::set<int>
*/
template<>
inline std::set<int> convertFromString(StringView key)
{
// Real numbers separated by semicolons
auto parts = splitString(key, ';');

std::set<int> set;
for (const auto part : parts) {
set.insert(convertFromString<int>(part));
}
return set;
}

/**
* @brief Return parameter value from behavior tree node or ros2 parameter file.
* @param node rclcpp::Node::SharedPtr
Expand Down
24 changes: 0 additions & 24 deletions nav2_behavior_tree/test/test_bt_utils.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@
#include <gtest/gtest.h>
#include <memory>
#include <chrono>
#include <set>

#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
Expand Down Expand Up @@ -419,29 +418,6 @@ TEST(MillisecondsPortTest, test_correct_syntax)
EXPECT_EQ(value.count(), 123);
}

TEST(ErrorCodePortTest, test_correct_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<ErrorCodePort test="100;204;212"/>
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<std::set<int>>>("ErrorCodePort");
auto tree = factory.createTreeFromText(xml_txt);

tree = factory.createTreeFromText(xml_txt);
std::set<int> value;
tree.rootNode()->getInput("test", value);

EXPECT_TRUE(value.find(100) != value.end());
EXPECT_TRUE(value.find(204) != value.end());
EXPECT_TRUE(value.find(212) != value.end());
}

TEST(deconflictPortAndParamFrameTest, test_correct_syntax)
{
std::string xml_txt =
Expand Down
Loading